Eigen (needed for an informed sampling technique to improve the optimization of path length and for the Vector Field RRT planner)

Once dependencies are installed, you can build OMPL.app on Linux, OS X,
and MS Windows. Go to the top-level directory of OMPL.app and type the
following commands:

mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want to use the GUI or Python bindings
make -j 4 # replace "4" with the number of cores on your machine